<!-- Launch file for the rrt-detector and the assigner -->


<launch>
<arg name="eta" value="4.0"/>
<arg name="Geta" value="40.0"/>
<param name="namespace_init_count" value="1"/>


  <node pkg="rrt_exploration" type="global_rrt_detector" name="global_detector" output="screen">
  <param name="eta" value="$(arg Geta)"/>
  <param name="map_topic" value="/map"/>
  </node>
  
  <node pkg="rrt_exploration" type="local_rrt_detector" name="local_detector" output="screen">
  <param name="eta" value="$(arg eta)"/>
  <param name="map_topic" value="/map"/>
  <param name="robot_frame" value="/base_footprint"/>
  </node>
 
  
  <node pkg="rrt_exploration" type="filter.py" name="filter" output="screen">
  <param name="map_topic" value="/map"/>
  <param name="info_radius" value="1"/> 
  <param name="costmap_clearing_threshold" value="30"/> 
  <param name="goals_topic" value="/detected_points"/>
  <param name="namespace" value=""/> 
  <param name="n_robots" value="1"/>
  <param name="rate" value="100"/>
  <param name="robot_frame" value="base_footprint"/>
  </node>
  
  <node pkg="rrt_exploration" type="assigner.py" name="assigner" output="screen">
  <param name="map_topic" value="/map"/>
  <param name="global_frame" value="/map"/>
  <param name="info_radius" value="1"/> 
  <param name="info_multiplier" value="3.0"/> 
  <param name="hysteresis_radius" value="3.0"/> 
  <param name="hysteresis_gain" value="2.0"/> 
  <param name="limit" value="3.0"/> 
  <param name="frontiers_topic" value="/filtered_points"/> 
  <param name="n_robots" value="1"/>
  <param name="namespace" value=""/>
  <param name="delay_after_assignement" value="0.5"/>
  <param name="rate" value="100"/>
  <param name="robot_frame" value="base_footprint"/>
  </node>
  
</launch>
